text: /* USER CODE BEGIN Header */
  /**
    ******************************************************************************
    * @file           : main.c
    * @brief          : Main program body
    ******************************************************************************
    * @attention
    *
    * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
    * All rights reserved.</center></h2>
    *
    * This software component is licensed by ST under BSD 3-Clause license,
    * the "License"; You may not use this file except in compliance with the
    * License. You may obtain a copy of the License at:
    *                        opensource.org/licenses/BSD-3-Clause
    *
    ******************************************************************************
    */
  /* USER CODE END Header */
  /* Includes ------------------------------------------------------------------*/
  #include "main.h"
  #include "gpio.h"
  
  /* Private includes ----------------------------------------------------------*/
  /* USER CODE BEGIN Includes */
  #include "luos.h"
  #include "dc_motor.h"
  /* USER CODE END Includes */
  
  /* Private typedef -----------------------------------------------------------*/
  /* USER CODE BEGIN PTD */
  
  /* USER CODE END PTD */
  
  /* Private define ------------------------------------------------------------*/
  /* USER CODE BEGIN PD */
  
  /* USER CODE END PD */
  
  /* Private macro -------------------------------------------------------------*/
  /* USER CODE BEGIN PM */
  
  /* USER CODE END PM */
  
  /* Private variables ---------------------------------------------------------*/
  
  /* USER CODE BEGIN PV */
  
  /* USER CODE END PV */
  
  /* Private function prototypes -----------------------------------------------*/
  void SystemClock_Config(void);
  /* USER CODE BEGIN PFP */
  
  /* USER CODE END PFP */
  
  /* Private user code ---------------------------------------------------------*/
  /* USER CODE BEGIN 0 */
  
  /* USER CODE END 0 */
  
  /**
    * @brief  The application entry point.
    * @retval int
    */
  int main(void)
  {
      /* USER CODE BEGIN 1 */
  
      /* USER CODE END 1 */
  
      /* MCU Configuration--------------------------------------------------------*/
  
      /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
      HAL_Init();
  
      /* USER CODE BEGIN Init */
  
      /* USER CODE END Init */
  
      /* Configure the system clock */
      SystemClock_Config();
  
      /* USER CODE BEGIN SysInit */
  
      /* USER CODE END SysInit */
  
      /* Initialize all configured peripherals */
      MX_GPIO_Init();
      /* USER CODE BEGIN 2 */
      Luos_Init();
      MotorDC_Init();
      /* USER CODE END 2 */
  
      /* Infinite loop */
      /* USER CODE BEGIN WHILE */
      while (1)
      {
          Luos_Loop();
          MotorDC_Loop();
          /* USER CODE END WHILE */
  
          /* USER CODE BEGIN 3 */
      }
      /* USER CODE END 3 */
  }
  
  /**
    * @brief System Clock Configuration
    * @retval None
    */
  void SystemClock_Config(void)
  {
      RCC_OscInitTypeDef RCC_OscInitStruct = {0};
      RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  
      /** Initializes the RCC Oscillators according to the specified parameters
    * in the RCC_OscInitTypeDef structure.
    */
      RCC_OscInitStruct.OscillatorType      = RCC_OSCILLATORTYPE_HSI;
      RCC_OscInitStruct.HSIState            = RCC_HSI_ON;
      RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
      RCC_OscInitStruct.PLL.PLLState        = RCC_PLL_ON;
      RCC_OscInitStruct.PLL.PLLSource       = RCC_PLLSOURCE_HSI;
      RCC_OscInitStruct.PLL.PLLMUL          = RCC_PLL_MUL6;
      RCC_OscInitStruct.PLL.PREDIV          = RCC_PREDIV_DIV1;
      if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
      {
          Error_Handler();
      }
      /** Initializes the CPU, AHB and APB buses clocks
    */
      RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
                                    | RCC_CLOCKTYPE_PCLK1;
      RCC_ClkInitStruct.SYSCLKSource   = RCC_SYSCLKSOURCE_PLLCLK;
      RCC_ClkInitStruct.AHBCLKDivider  = RCC_SYSCLK_DIV1;
      RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  
      if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
      {
          Error_Handler();
      }
  }
  
  /* USER CODE BEGIN 4 */
  
  /* USER CODE END 4 */
  
  /**
    * @brief  This function is executed in case of error occurrence.
    * @retval None
    */
  void Error_Handler(void)
  {
      /* USER CODE BEGIN Error_Handler_Debug */
      /* User can add his own implementation to report the HAL error return state */
  
      /* USER CODE END Error_Handler_Debug */
  }
  
  #ifdef USE_FULL_ASSERT
  /**
    * @brief  Reports the name of the source file and the source line number
    *         where the assert_param error has occurred.
    * @param  file: pointer to the source file name
    * @param  line: assert_param error line source number
    * @retval None
    */
  void assert_failed(uint8_t *file, uint32_t line)
  {
      /* USER CODE BEGIN 6 */
      /* User can add his own implementation to report the file name and line number,
       tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
      /* USER CODE END 6 */
  }
  #endif /* USE_FULL_ASSERT */
  
  /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
  